For proper alignment on the heap Eigen needs to have a custom
allocator. There are two forms, new and in-place new. To make sure
that memory is aligned using new, one needs to overload new by
adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to any struct which contains a
fixed size Eigen type either through inheritance or as a direct or
indirect member. For the in-place new one need to use the
Eigen::aligned_allocator (e.g. for std::vector, std::list,
FixedArray, etc.). For more details see:
https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html
This CL adds EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs, which
contain fixed-size Eigen types and uses the Eigen::aligned_allocator
for containers which stores structs of fixed-size Eigen types.
Change-Id: I06c6c4fc74a6835918d5d1c571b7814a14c029d8
This PR changes the implementation of the current fixed array to the
abseil one, which has proper allocator support.
Some minor changes are made to make the fixed array implementation
self-contained (no dependent to abseil):
- No address sanitizer support (red zones, etc.)
- Remove of noexecpt specified for copy and move constructor.
- Remove of 'at' function as Ceres does not use exceptions.
- Use std::tuple instead of absl::CompressedTuple as it uses the abseil
utility header which includes a whole bunch of other headers.
Change-Id: I43445b42c37f944509b5353a587d0efce74cbccf
Johannes Beck